Online from: 1973
Subject Area: Mechanical & Materials Engineering
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|Title:||On-line path planning strategy integrated with collision and dead-lock avoidance schemes for wheeled mobile robot in indoor environments|
|Author(s):||Ya-Chun Chang, (Graduate School of Tokai University, Hiratsuka, Japan), Yoshio Yamamoto, (Department of Precision Engineering, Tokai University, Hiratsuka, Japan)|
|Citation:||Ya-Chun Chang, Yoshio Yamamoto, (2008) "On-line path planning strategy integrated with collision and dead-lock avoidance schemes for wheeled mobile robot in indoor environments", Industrial Robot: An International Journal, Vol. 35 Iss: 5, pp.421 - 434|
|Keywords:||Control systems, Linear motion, Navigation, Robotics|
|Article type:||Research paper|
|DOI:||10.1108/01439910810893590 (Permanent URL)|
|Publisher:||Emerald Group Publishing Limited|
Purpose – This paper aims to present a hybrid path planning algorithm which is designed for use of autonomous vehicles in indoor environments. The approach mainly contributes the ability of generating a safe and smooth collision avoidance path for attaining a desired position in an unknown and obstructed environment.
Design/methodology/approach – The hybrid planner is based on potential field method and Voronoi diagram approach, and it is represented with the ability of concurrent map building and autonomous navigation.
Findings – The possibility of controlling the look-ahead distance allows the mobile robot to smartly control the velocity for creating a smooth trajectory autonomously. The dead-lock problem is solved by defining necessary sub-goals between targets on the constructed map.
Originality/value – The system controller (look-ahead control) with the potential field method allows the robot to generate a smooth and safe path for an expected position. Only essential exploration of unknown environment is performed since the approach constrains the mobile robot to explore a safe and sub-optimal route towards a destination.
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